Explain the philosophical view on understanding scriptures like the Upanishads as presented in Chapter 20.

Chapter 20 presents a profound philosophical viewpoint on comprehending sacred texts. It states that the Upanishads contain the essence of the four Vedas and are incredibly difficult to grasp without the grace of both God (Hari) and a Guru. The chapter emphasizes that even a great scholar cannot understand the hidden truths through their own efforts alone, as the path is difficult at every step without a Guru's guidance. However, for a humble devotee who is attached to the Guru's feet, the hidden meanings of these scriptures, which are a science of Self-knowledge, will open up automatically.